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Make it work with Marlin firmware #2357

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Make it work with Marlin firmware #2357

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3beb737
parse and convert some grbml commands
g3gg0 Sep 11, 2024
0254d90
fix indentation to tabs for added code
g3gg0 Sep 11, 2024
e4db2b2
smaller fixes with S0 commands being mapped to M5
g3gg0 Sep 14, 2024
4afdee9
always use the last Sx in G commands
g3gg0 Sep 18, 2024
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165 changes: 149 additions & 16 deletions LaserGRBL/Core/GrblCore.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,13 @@
using Sound;
using System;
using System.Collections.Generic;
using System.Data;
using System.Drawing;
using System.Drawing.Imaging;
using System.Globalization;
using System.Linq;
using System.Runtime.Serialization;
using System.Text.RegularExpressions;
using System.Web;
using System.Windows.Forms;
using System.Xml.Linq;
Expand Down Expand Up @@ -875,7 +877,7 @@ public virtual void RefreshMachineInfo()
{
mSentPtr = new List<IGrblRow>(); //assign sent queue
mQueuePtr = new Queue<GrblCommand>();
mQueuePtr.Enqueue(cmd);
EnqueueCommandInner(cmd);
}

Tools.PeriodicEventTimer WaitResponseTimeout = new Tools.PeriodicEventTimer(TimeSpan.FromSeconds(10), true);
Expand Down Expand Up @@ -982,7 +984,7 @@ public virtual void RefreshConfig(RefreshCause cause)
{
mSentPtr = new List<IGrblRow>(); //assign sent queue
mQueuePtr = new Queue<GrblCommand>();
mQueuePtr.Enqueue(cmd);
EnqueueCommandInner(cmd);
}

PeriodicEventTimer WaitResponseTimeout = new PeriodicEventTimer(TimeSpan.FromSeconds(10), true);
Expand Down Expand Up @@ -1100,9 +1102,9 @@ internal void WriteWiFiConfig(string ssid, string password)
//mSentPtr = new System.Collections.Generic.List<IGrblRow>(); //assign sent queue
//mQueuePtr = new System.Collections.Generic.Queue<GrblCommand>();

mQueuePtr.Enqueue(new GrblCommand(string.Format("${0}={1}", 74, ssid), 0, true));
mQueuePtr.Enqueue(new GrblCommand(string.Format("${0}={1}", 75, password), 0, true));
mQueuePtr.Enqueue(new GrblCommand("$WRS"));
EnqueueCommandInner(new GrblCommand(string.Format("${0}={1}", 74, ssid), 0, true));
EnqueueCommandInner(new GrblCommand(string.Format("${0}={1}", 75, password), 0, true));
EnqueueCommandInner(new GrblCommand("$WRS"));
}

try
Expand Down Expand Up @@ -1148,7 +1150,7 @@ public void WriteConfig(List<GrblConfST.GrblConfParam> config)
mQueuePtr = new System.Collections.Generic.Queue<GrblCommand>();

foreach (GrblConfST.GrblConfParam p in config)
mQueuePtr.Enqueue(new GrblCommand(string.Format("${0}={1}", p.Number, p.Value), 0, true));
EnqueueCommandInner(new GrblCommand(string.Format("${0}={1}", p.Number, p.Value), 0, true));
}

try
Expand Down Expand Up @@ -1266,7 +1268,7 @@ private void RunProgramFromStart(bool homing, bool first = false, bool pass = fa
if (homing)
{
Logger.LogMessage("EnqueueProgram", "Push Homing ($H)");
mQueuePtr.Enqueue(new GrblCommand("$H"));
EnqueueCommandInner(new GrblCommand("$H"));
}

if (first)
Expand All @@ -1278,7 +1280,7 @@ private void RunProgramFromStart(bool homing, bool first = false, bool pass = fa

Logger.LogMessage("EnqueueProgram", "Push File, {0} lines", file.Count);
foreach (GrblCommand cmd in file)
mQueuePtr.Enqueue(cmd.Clone() as GrblCommand);
EnqueueCommandInner(cmd.Clone() as GrblCommand);

mTP.JobStart(LoadedFile, mQueuePtr, first);
Logger.LogMessage("EnqueueProgram", "Running program, {0} lines", file.Count);
Expand Down Expand Up @@ -1318,7 +1320,7 @@ private void ContinueProgramFromKnown(int position, bool homing, bool setwco)

GrblCommand.StatePositionBuilder spb = new GrblCommand.StatePositionBuilder();

if (homing) mQueuePtr.Enqueue(new GrblCommand("$H"));
if (homing) EnqueueCommandInner(new GrblCommand("$H"));

if (setwco)
{
Expand All @@ -1332,9 +1334,9 @@ private void ContinueProgramFromKnown(int position, bool homing, bool setwco)
for (int i = 0; i < position && i < file.Count; i++) //analizza fino alla posizione
spb.AnalyzeCommand(file[i], false);

mQueuePtr.Enqueue(new GrblCommand("G90")); //absolute coordinate
mQueuePtr.Enqueue(new GrblCommand(string.Format("M5 G0 {0} {1} {2} {3} {4}", spb.X, spb.Y, spb.Z, spb.F, spb.S))); //fast go to the computed position with laser off and set speed and power
mQueuePtr.Enqueue(new GrblCommand(spb.GetSettledModals()));
EnqueueCommandInner(new GrblCommand("G90")); //absolute coordinate
EnqueueCommandInner(new GrblCommand(string.Format("M5 G0 {0} {1} {2} {3} {4}", spb.X, spb.Y, spb.Z, spb.F, spb.S))); //fast go to the computed position with laser off and set speed and power
EnqueueCommandInner(new GrblCommand(spb.GetSettledModals()));

mTP.JobContinue(LoadedFile, position, mQueuePtr.Count);

Expand All @@ -1345,15 +1347,15 @@ private void ContinueProgramFromKnown(int position, bool homing, bool setwco)
GrblCommand cmd = file[i].Clone() as GrblCommand;
cmd.BuildHelper();
if (cmd.IsMovement && cmd.G == null)
mQueuePtr.Enqueue(new GrblCommand(spb.MotionMode, cmd));
EnqueueCommandInner(new GrblCommand(spb.MotionMode, cmd));
else
mQueuePtr.Enqueue(cmd);
EnqueueCommandInner(cmd);
cmd.DeleteHelper();
spb = null; //only the first time
}
else
{
mQueuePtr.Enqueue(file[i].Clone() as GrblCommand);
EnqueueCommandInner(file[i].Clone() as GrblCommand);
}
}
}
Expand All @@ -1365,7 +1367,7 @@ public bool HasProgram
public void EnqueueCommand(GrblCommand cmd)
{
lock (this)
{ mQueuePtr.Enqueue(cmd.Clone() as GrblCommand); }
{ EnqueueCommandInner(cmd.Clone() as GrblCommand); }
}

public void Configure(ComWrapper.WrapperType wraptype, params object[] conf)
Expand Down Expand Up @@ -1996,6 +1998,137 @@ private bool BufferIsFull()
return mUsedBuffer > 0 && next != null && !HasSpaceInBuffer(next);
}

string MarlinLastMode = "G0";
string MarlinLastLaserMode = "M3";
string MarlinLastLaserPower = "S1";
bool MarlinLastLaserState = false;
bool MarlinReplaceM4withM3 = true;

static string CalculateConstants(string input)
{
Dictionary<string, double> constants = new Dictionary<string, double>
{
/* assume marlin is configured for CUTTER_POWER_UNIT PWM255 */
{ "$30", 255 }
};

return Regex.Replace(input, @"\[(.*?)\]", match =>
{
string expression = match.Groups[1].Value;

/* Replace constants */
foreach (var constant in constants)
{
expression = Regex.Replace(expression, $@"{Regex.Escape(constant.Key)}", constant.Value.ToString());
}

/* Evaluate the expression */
var dataTable = new DataTable();
var result = Convert.ToInt32(dataTable.Compute(expression, null));
return result.ToString();
});
}

private void EnqueueCommandInner(GrblCommand cmd)
{
/* replace calculated strength values */
if (Settings.GetObject("Firmware Type", Firmware.Grbl) == Firmware.Marlin)
{
string newString = CalculateConstants(cmd.Command);

if (!newString.Contains("NOPATCH"))
{

if (MarlinReplaceM4withM3)
{
newString = newString.Replace("M4", "M3");
}

/* convert homing command */
if (newString.Trim() == "$H")
{
newString = "G28";
}
else if (newString.Trim().StartsWith("M"))
{
/* M commands are all fine, just extract the last spindle mode for S-commands later */
if (newString.Trim().StartsWith("M3") || newString.Trim().StartsWith("M4"))
{
MarlinLastLaserMode = Regex.Match(newString.Trim(), @"^(M\d+)").Value.Trim();
if (!newString.Trim().Contains("I"))
{
newString += " I";
}
}
}
else
{
/* if not M and not G */
if (!newString.Trim().StartsWith("G"))
{
/* stray S command? then prefix it with the last M mode if we shall re-enable */
if (newString.Trim().StartsWith("S"))
{
/* when receiving a S0, immediately disable using M5, don't wait for a move */
if (newString.Trim() == "S0")
{
newString = "M5 I";
MarlinLastLaserState = false;
}
else
{
MarlinLastLaserPower = Regex.Match(newString, @"S\d+").Value.Trim();
if (!MarlinLastLaserState)
{
newString = MarlinLastLaserMode + " I " + MarlinLastLaserPower;
}
else
{
newString = "";// saved + S" + MarlinLastLaserPower + " for next G";
}
}
}
else
{
/* anything else, prefix X/Y/Z -> only if GCODE_MOTION_MODES isn't enabled, but helps below checking G+M */
newString = MarlinLastMode + " " + newString;
}
}
else
{
MarlinLastMode = Regex.Match(newString.Trim(), @"^(G\d+)").Value.Trim();
}

/* M within G command? assume it is M3-5 and extract */
var match = Regex.Match(newString, @"G\d+.*M\d+");
if (match.Success)
{
/* issue two lines, first send the M command with last S, then send G line without M string */
MarlinLastLaserMode = Regex.Match(newString, @"M\d+").Value.Trim();
mQueuePtr.Enqueue(new GrblCommand(MarlinLastLaserMode + " " + MarlinLastLaserPower));
newString = Regex.Replace(newString, @"M\d+", "").Trim();
}

/* S command? save the strength if needed later */
var matchS = Regex.Match(newString, @"S\d+");
if (matchS.Success)
{
MarlinLastLaserPower = Regex.Match(newString, @"S\d+").Value.Trim();
}
else
{
newString = newString + " " + MarlinLastLaserPower;
}
}
}

if (newString.Trim() != "")
{
mQueuePtr.Enqueue(new GrblCommand(newString));
}
}
}

private GrblCommand PeekNextCommand()
{
if (HasPendingCommands() && mPending.Peek().IsWriteEEPROM) //if managing eeprom write act like sync
Expand Down